sbgEComCmdMag.c File Reference

#include "sbgEComCmdMag.h"
#include <streamBuffer/sbgStreamBuffer.h>
#include "transfer/sbgEComTransfer.h"

Include dependency graph for sbgEComCmdMag.c:

Go to the source code of this file.

Functions
SbgErrorCode	sbgEComCmdMagComputeCalib (SbgEComHandle *pHandle, SbgEComMagCalibResults *pCalibResults)
SbgErrorCode	sbgEComCmdMagGetModelInfo (SbgEComHandle *pHandle, SbgEComModelInfo *pModelInfo)
SbgErrorCode	sbgEComCmdMagGetRejection (SbgEComHandle *pHandle, SbgEComMagRejectionConf *pRejectConf)
SbgErrorCode	sbgEComCmdMagSetCalibData (SbgEComHandle *pHandle, const float offset[3], const float matrix[9])
SbgErrorCode	sbgEComCmdMagSetModelId (SbgEComHandle *pHandle, uint32_t id)
SbgErrorCode	sbgEComCmdMagSetRejection (SbgEComHandle *pHandle, const SbgEComMagRejectionConf *pRejectConf)
SbgErrorCode	sbgEComCmdMagStartCalib (SbgEComHandle *pHandle, SbgEComMagCalibMode mode, SbgEComMagCalibBandwidth bandwidth)

Function Documentation

sbgEComCmdMagComputeCalib()

SbgErrorCode sbgEComCmdMagComputeCalib	(	SbgEComHandle *	pHandle,
		SbgEComMagCalibResults *	pCalibResults
	)

This command computes a magnetic calibration solution based on the magnetic field logged since the last call to the command SBG_ECOM_CMD_START_MAG_CALIB (15). As soon as the computations are done, the device will answer with quality indicators, status flags and if possible a valid magnetic calibration matrix and offset.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pCalibResults	Pointer on a SbgEComMagCalibResults structure that can hold onboard magnetic calibration results and status.

Returns

SBG_NO_ERROR if the command has been executed successfully.

Definition at line 350 of file sbgEComCmdMag.c.

sbgEComCmdMagGetModelInfo()

SbgErrorCode sbgEComCmdMagGetModelInfo	(	SbgEComHandle *	pHandle,
		SbgEComModelInfo *	pModelInfo
	)

Retrieve magnetometer error model information.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pMotionProfileInfo	Pointer to a SbgEComModelInfo to contain the current magnetometer error model info.

Returns

SBG_NO_ERROR if the command has been executed successfully.

Definition at line 29 of file sbgEComCmdMag.c.

sbgEComCmdMagGetRejection()

SbgErrorCode sbgEComCmdMagGetRejection	(	SbgEComHandle *	pHandle,
		SbgEComMagRejectionConf *	pRejectConf
	)

Retrieve the rejection configuration of the magnetometer module.

Parameters

[in]	pHandle	A valid sbgECom handle.
[out]	pRejectConf	Pointer to a SbgEComMagRejectionConf struct to hold rejection configuration of the magnetometer module.

Returns

SBG_NO_ERROR if the command has been executed successfully.

Definition at line 131 of file sbgEComCmdMag.c.

sbgEComCmdMagSetCalibData()

SbgErrorCode sbgEComCmdMagSetCalibData	(	SbgEComHandle *	pHandle,
		const float	offset[3],
		const float	matrix[9]
	)

Send a command that set the magnetometers calibration parameters.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	offset	Magnetometers calibration offset vector.
[in]	matix	Magnetometers calibration 3x3 matrix.

Returns

SBG_NO_ERROR if the command has been executed successfully.

Definition at line 44 of file sbgEComCmdMag.c.

sbgEComCmdMagSetModelId()

SbgErrorCode sbgEComCmdMagSetModelId	(	SbgEComHandle *	pHandle,
		uint32_t	id
	)

Set magnetometer error model ID.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	id	Magnetometer model ID to set

Returns

SBG_NO_ERROR if the command has been executed successfully.

Definition at line 15 of file sbgEComCmdMag.c.

sbgEComCmdMagSetRejection()

SbgErrorCode sbgEComCmdMagSetRejection	(	SbgEComHandle *	pHandle,
		const SbgEComMagRejectionConf *	pRejectConf
	)

Set the rejection configuration of the magnetometer module.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	pRejectConf	Pointer to a SbgEComMagRejectionConf struct holding rejection configuration for the magnetometer module.

Returns

SBG_NO_ERROR if the command has been executed successfully.

Definition at line 201 of file sbgEComCmdMag.c.

sbgEComCmdMagStartCalib()

SbgErrorCode sbgEComCmdMagStartCalib	(	SbgEComHandle *	pHandle,
		SbgEComMagCalibMode	mode,
		SbgEComMagCalibBandwidth	bandwidth
	)

Start the magnetic calibration process. As soon as this command is sent, the device will start logging magnetic field data internally. This set of data will be used later by the magnetic calibration algorithms to map the surrounding magnetic field.

Parameters

[in]	pHandle	A valid sbgECom handle.
[in]	mode	Define which magnetic calibration type to perform. It could be 3D or 2D.
[in]	bandwidth	Tell the device that we should have low, medium or high dynamics during the magnetic calibration process.

Returns

SBG_NO_ERROR if the command has been executed successfully.

Definition at line 274 of file sbgEComCmdMag.c.